In this paper, using a novel event-triggered method, a robust ${\mathscr H}_{\boldsymbol {\infty }}$ depth tracking controller is designed for a remotely operated underwater vehicle (ROV). It is assumed that the desired trajectory of the ROV is determined by an operator outside of the vehicle based on its needed depth and obstacles in its path. It is also assumed that a wireless network is used to connect the user with the ROV. To decrease the communication rate between the controller and the ROV, a novel nonlinear event-triggered ${\mathscr H}_{\boldsymbol {\infty }}$ controller is designed. The effects of the disturbance on the system performance are also attenuated. Stability of the ROV under the designed event-triggered controller is proved through a theorem. Simulation results demonstrate that the error between the depth of the ROV and its time-varying desired trajectory converges to zero using the proposed event-triggered ${\mathscr H}_{\boldsymbol {\infty }}$ controller. It is also shown that the communication rate between the designed controller and the ROV is considerably reduced.

中文翻译：

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遥控水下航行器的事件触发 H∞ 深度控制

在本文中，使用一种新颖的事件触发方法，一个鲁棒的 ${\mathscr H}_{\boldsymbol {\infty }}$ 深度跟踪控制器专为遥控水下航行器 (ROV) 设计。假设 ROV 的期望轨迹由车辆外部的操作员根据其所需的深度和路径中的障碍物确定。还假设使用无线网络将用户与 ROV 连接起来。为了降低控制器和 ROV 之间的通信速率，一种新型的非线性事件触发 ${\mathscr H}_{\boldsymbol {\infty }}$ 控制器设计。扰动对系统性能的影响也减弱了。通过一个定理证明了设计的事件触发控制器下 ROV 的稳定性。仿真结果表明，ROV 的深度与其随时间变化的期望轨迹之间的误差收敛到零使用所提出的事件触发 ${\mathscr H}_{\boldsymbol {\infty }}$ 控制器。还表明设计的控制器和 ROV 之间的通信速率显着降低。